Microdrone Surface Tracking Device for Steep Terrain Navigation
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Solution Overview
Problem
Autonomous navigation systems for drones, such as microdrones and nanodrones, face challenges in navigating cluttered and steep environments, particularly due to the complexity and sensitivity to vibrations of existing systems, and the difficulty in incorporating inertial units due to size, weight, and computing power constraints.
Innovation Solution
A surface tracking device with a detection head equipped with optical flow sensors that can reorient its line of sight to measure distance to surrounding objects more accurately, allowing the drone to avoid obstacles by estimating the direction perpendicular to the surface and adjusting its orientation system, eliminating the need for an inertial unit.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If an inertial unit is incorporated into the microdrone, then navigation reliability in steep and moving environments is improved, but device complexity, weight, and computing power requirements increase
Solution Approach 1:
The patent extracts and removes the inertial unit from the navigation system, replacing it with a simplified optical flow-based surface tracking device. This extraction eliminates the complexity, weight, and computing power requirements associated with inertial units while maintaining navigation reliability through alternative optical measurement methods.
Solution Approach 2:
The patent replaces the mechanical inertial measurement system with an optical-based surface tracking system. Instead of using mechanical accelerometers and gyroscopes, the system uses optical flow sensors to measure surface motion patterns, substituting a mechanical system with an optical one that is better suited for microdrones.
2Measurement precision
If the detection zone is reoriented at a reorientation angle from the perpendicular direction, then obstacle detection accuracy is improved, but device complexity increases
Solution Approach 1:
The patent implements a dynamic orientation system where the detection zone can be reoriented at a determined angle from the perpendicular direction. This dynamic adjustment allows the sensor to optimally detect obstacles in various orientations, particularly improving detection accuracy for steep and moving terrain while managing system complexity through controlled rotational capability.
3Adaptability or versatility
If optical flow sensors are used for surface tracking, then the ability to navigate cluttered environments is improved, but sensitivity to vibrations worsens navigation performance
Solution Approach 1:
The patent implements a feedback-based surface tracking system that continuously monitors optical flow patterns and adjusts the detection zone orientation accordingly. This feedback mechanism helps compensate for vibrations by dynamically adapting to the actual surface motion, maintaining navigation capability in cluttered environments despite the inherent vibration sensitivity of optical flow sensors.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
Enables improved navigation in complex environments by accurately detecting obstacles and maintaining alignment with the surface, enhancing the drone's ability to navigate steep and moving terrain without hindrance, and reducing system complexity and weight.
Implementation Method 1
The detection head comprises at least one sensor of a magnitude depending on the distance from the center of the detection head to the surface, each sensor covering a detection zone centered on a line of sight
Data Source
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AI summary
The invention relates to a surface identification device for the remote movement of that surface by a vehicle, the device comprising a detection head comprising at least one sensor for a property depending on the distance from the centre of the head to the surface, each sensor covering a detection zone (ZV) centred on a line of sight (ZC), a system (24) for orientation of the detection zone (ZV) of each sensor, and a controller processing the signals from each sensor and controlling the system (24) based on said signals. The controller estimates the direction of the perpendicular to the surface and, using said system (24), rotates the line of sight (ZC) of each sensor in a direction separate from a reorientation angle of the direction of said perpendicular.